def getAxisStatus(self, axisNo):
'''
Reads status information about an axis of the device.
Parameters
axisNo Axis number (0 ... 2)
Returns
connected Output: If the axis is connected to a sensor.
enabled Output: If the axis voltage output is enabled.
moving Output: If the axis is moving.
target Output: If the target is reached in automatic positioning
eotFwd Output: If end of travel detected in forward direction.
eotBwd Output: If end of travel detected in backward direction.
error Output: If the axis' sensor is in error state.
'''
connected = ctypes.c_int()
enabled = ctypes.c_int()
moving = ctypes.c_int()
target = ctypes.c_int()
eotFwd = ctypes.c_int()
eotBwd = ctypes.c_int()
error = ctypes.c_int()
ANC.getAxisStatus(self.device, axisNo, ctypes.byref(connected), ctypes.byref(enabled), ctypes.byref(moving), ctypes.byref(target), ctypes.byref(eotFwd), ctypes.byref(eotBwd), ctypes.byref(error))
return connected.value, enabled.value, moving.value, target.value, eotFwd.value, eotBwd.value, error.value
def saveParams(self):
'''
Saves parameters to persistent flash memory in the device. They will be present as defaults after the next power-on. The following parameters are affected: Amplitude, frequency, actuator selections as well as Trigger and quadrature settings.
Parameters
None
Returns
None
'''
ANC.saveParams(self.device)
def configureNslTriggerAxis(self, axisNo):
'''
Selects Axis for NSL Trigger.
Parameters
axisNo Axis number (0 ... 2)
Returns
None
'''
ANC.configureNslTriggerAxis(self.device, axisNo)
def disconnect(self):
'''
Closes the connection to the device. The device handle becomes invalid.
Parameters
None
Returns
None
'''
ANC.disconnect(self.device)
def configureNslTrigger(self, enable):
'''
Enables NSL Input as Trigger Source.
Parameters
enable disable(0), enable(1)
Returns
None
'''
ANC.configureNslTrigger(self.device, enable)
def setTargetRange(self, axisNo, targetRg):
'''
Defines the range around the target position where the target is considered to be reached.
Parameters
axisNo Axis number (0 ... 2)
targetRg Target range [m] or [°]. Internal resulution is 1 nm or 1 µ°.
Returns
None
'''
ANC.setTargetRange(self.device, axisNo, ctypes.c_double(targetRg))
def setAmplitude(self, axisNo, amplitude):
'''
Sets the amplitude parameter for an axis
Parameters
axisNo Axis number (0 ... 2)
amplitude Amplitude in V, internal resolution is 1 mV
Returns
None
'''
ANC.setAmplitude(self.device, axisNo, ctypes.c_double(amplitude))
def configureAQuadBIn(self, axisNo, enable, resolution):
'''
Enables and configures the A-Quad-B (quadrature) input for the target position.
Parameters
axisNo Axis number (0 ... 2)
enable Enable (1) or disable (0) A-Quad-B input
resolution A-Quad-B step width in m. Internal resolution is 1 nm.
Returns
None
'''
ANC.configureAQuadBIn(self.device, axisNo, enable, ctypes.c_double(resolution))
def setTargetPosition(self, axisNo, target):
'''
Sets the target position for automatic motion, see ANC_startAutoMove. For linear type actuators the position unit is m, for goniometers and rotators it is degree.
Parameters
axisNo Axis number (0 ... 2)
target Target position [m] or [°]. Internal resulution is 1 nm or 1 µ°.
Returns
None
'''
ANC.setTargetPosition(self.device, axisNo, ctypes.c_double(target))
def setDcVoltage(self, axisNo, voltage):
'''
Sets the DC level on the voltage output when no sawtooth based motion is active.
Parameters
axisNo Axis number (0 ... 2)
voltage DC output voltage [V], internal resolution is 1 mV
Returns
None
'''
ANC.setDcVoltage(self.device, axisNo, ctypes.c_double(voltage))
def setFrequency(self, axisNo, frequency):
'''
Sets the frequency parameter for an axis
Parameters
axisNo Axis number (0 ... 2)
frequency Frequency in Hz, internal resolution is 1 Hz
Returns
None
'''
ANC.setFrequency(self.device, axisNo, ctypes.c_double(frequency))
def startSingleStep(self, axisNo, backward):
'''
Triggers a single step in desired direction.
Parameters
axisNo Axis number (0 ... 2)
backward If the step direction is forward (0) or backward (1)
Returns
None
'''
ANC.startSingleStep(self.device, axisNo, backward)
def configureRngTriggerEps(self, axisNo, epsilon):
'''
Configure hysteresis for range Trigger.
Parameters
axisNo Axis number (0 ... 2)
epsilon hysteresis in nm / mdeg
Returns
None
'''
ANC.configureRngTriggerEps(self.device, axisNo, epsilon)
def configureExtTrigger(self, axisNo, mode):
'''
Enables the input trigger for steps.
Parameters
axisNo Axis number (0 ... 2)
mode Disable (0), Quadratur (1), Trigger(2) for external triggering
Returns
None
'''
ANC.configureExtTrigger(self.device, axisNo, mode)
def configureRngTriggerPol(self, axisNo, polarity):
'''
Configure lower position for range Trigger.
Parameters
axisNo Axis number (0 ... 2)
polarity Polarity of trigger signal when position is between lower and upper Low(0) and High(1)
Returns
None
'''
ANC.configureRngTriggerPol(self.device, axisNo, polarity)
def getPosition(self, axisNo):
'''
Retrieves the current actuator position. For linear type actuators the position unit is m; for goniometers and rotators it is degree.
Parameters
axisNo Axis number (0 ... 2)
Returns
position Output: Current position [m] or [°]
'''
position = ctypes.c_double()
ANC.getPosition(self.device, axisNo, ctypes.byref(position))
return position.value
def setAxisOutput(self, axisNo, enable, autoDisable):
'''
Enables or disables the voltage output of an axis.
Parameters
axisNo Axis number (0 ... 2)
enable Enables (1) or disables (0) the voltage output.
autoDisable If the voltage output is to be deactivated automatically when end of travel is detected.
Returns
None
'''
ANC.setAxisOutput(self.device, axisNo, enable, autoDisable)
def getActuatorName(self, axisNo):
'''
Get the name of the currently selected actuator
Parameters
axisNo Axis number (0 ... 2)
Returns
name Name of the actuator
'''
name = ctypes.create_string_buffer(20)
ANC.getActuatorName(self.device, axisNo, ctypes.byref(name))
return name.value.decode('utf-8')
def startAutoMove(self, axisNo, enable, relative):
'''
Switches automatic moving (i.e. following the target position) on or off
Parameters
axisNo Axis number (0 ... 2)
enable Enables (1) or disables (0) automatic motion
relative If the target position is to be interpreted absolute (0) or relative to the current position (1)
Returns
None
'''
ANC.startAutoMove(self.device, axisNo, enable, relative)
def getFrequency(self, axisNo):
'''
Reads back the frequency parameter of an axis.
Parameters
axisNo Axis number (0 ... 2)
Returns
frequency Output: Frequency in Hz
'''
frequency = ctypes.c_double()
ANC.getFrequency(self.device, axisNo, ctypes.byref(frequency))
return frequency.value
def getFirmwareVersion(self):
'''
Retrieves the version of currently loaded firmware.
Parameters
None
Returns
version Output: Version number
'''
version = ctypes.c_int()
ANC.getFirmwareVersion(self.device, ctypes.byref(version))
return version.value
def getAmplitude(self, axisNo):
'''
Reads back the amplitude parameter of an axis.
Parameters
axisNo Axis number (0 ... 2)
Returns
amplitude Amplitude V
'''
amplitude = ctypes.c_double()
ANC.getAmplitude(self.device, axisNo, ctypes.byref(amplitude))
return amplitude.value
def getActuatorType(self, axisNo):
'''
Get the type of the currently selected actuator
Parameters
axisNo Axis number (0 ... 2)
Returns
type_ Type of the actuator {0: linear, 1: goniometer, 2: rotator}
'''
type_ = ctypes.c_int()
ANC.getActuatorType(self.device, axisNo, ctypes.byref(type_))
return type_.value
def startContinuousMove(self, axisNo, start, backward):
'''
Starts or stops continous motion in forward direction. Other kinds of motions are stopped.
Parameters
axisNo Axis number (0 ... 2)
start Starts (1) or stops (0) the motion
backward If the move direction is forward (0) or backward (1)
Returns
None
'''
ANC.startContinousMove(self.device, axisNo, start, backward)
def measureCapacitance(self, axisNo):
'''
Performs a measurement of the capacitance of the piezo motor and returns the result. If no motor is connected, the result will be 0. The function doesn't return before the measurement is complete; this will take a few seconds of time.
Parameters
axisNo Axis number (0 ... 2)
Returns
cap Output: Capacitance [F]
'''
cap = ctypes.c_double()
ANC.measureCapacitance(self.device, axisNo, ctypes.byref(cap))
return cap.value
def configureRngTrigger(self, axisNo, lower, upper):
'''
Configure lower position for range Trigger.
Parameters
axisNo Axis number (0 ... 2)
lower Lower position for range trigger (nm)
upper Upper position for range trigger (nm)
Returns
None
'''
ANC.configureRngTrigger(self.device, axisNo, lower, upper)
def connect(self, devNo=0):
'''
Initializes and connects the selected device. This has to be done before any access to control variables or measured data.
Parameters
devNo Sequence number of the device. Must be smaller than the devCount from the last ANC_discover call. Default: 0
Returns
device Handle to the opened device, NULL on error
'''
device = ctypes.c_void_p()
ANC.connect(devNo, ctypes.byref(device))
return device
def configureAQuadBOut(self, axisNo, enable, resolution, clock):
'''
Enables and configures the A-Quad-B output of the current position.
Parameters
axisNo Axis number (0 ... 2)
enable Enable (1) or disable (0) A-Quad-B output
resolution A-Quad-B step width in m; internal resolution is 1 nm
clock Clock of the A-Quad-B output [s]. Allowed range is 40ns ... 1.3ms; internal resulution is 20ns.
Returns/
None
'''
ANC.configureAQuadBOut(self.device, axisNo, enable, ctypes.c_double(resolution), ctypes.c_double(clock))
def discover(self, ifaces=3):
'''
The function searches for connected ANC350RES devices on USB and LAN and initializes internal data structures per device. Devices that are in use by another application or PC are not found. The function must be called before connecting to a device and must not be called as long as any devices are connected.
The number of devices found is returned. In subsequent functions, devices are identified by a sequence number that must be less than the number returned.
Parameters
ifaces Interfaces where devices are to be searched. {None: 0, USB: 1, ethernet: 2, all:3} Default: 3
Returns
devCount number of devices found
'''
devCount = ctypes.c_int()
ANC.discover(ifaces, ctypes.byref(devCount))
return devCount.value
def getDeviceInfo(self, devNo=0):
'''
Returns available information about a device. The function can not be called before ANC_discover but the devices don't have to be connected . All Pointers to output parameters may be zero to ignore the respective value.
Parameters
devNo Sequence number of the device. Must be smaller than the devCount from the last ANC_discover call. Default: 0
Returns
devType Output: Type of the ANC350 device. {0: Anc350Res, 1:Anc350Num, 2:Anc350Fps, 3:Anc350None}
id Output: programmed hardware ID of the device
serialNo Output: The device's serial number. The string buffer should be NULL or at least 16 bytes long.
address Output: The device's interface address if applicable. Returns the IP address in dotted-decimal notation or the string "USB", respectively. The string buffer should be NULL or at least 16 bytes long.
connected Output: If the device is already connected
'''
devType = ctypes.c_int()
id_ = ctypes.c_int()
serialNo = ctypes.create_string_buffer(16)
address = ctypes.create_string_buffer(16)
connected = ctypes.c_int()
ANC.getDeviceInfo(devNo, ctypes.byref(devType), ctypes.byref(id_), ctypes.byref(serialNo), ctypes.byref(address), ctypes.byref(connected))
return devType.value, id_.value, serialNo.value.decode('utf-8'), address.value.decode('utf-8'), connected.value